CN203228845U - Four-wheel electric steering control system for forklift - Google Patents
Four-wheel electric steering control system for forklift Download PDFInfo
- Publication number
- CN203228845U CN203228845U CN 201320209669 CN201320209669U CN203228845U CN 203228845 U CN203228845 U CN 203228845U CN 201320209669 CN201320209669 CN 201320209669 CN 201320209669 U CN201320209669 U CN 201320209669U CN 203228845 U CN203228845 U CN 203228845U
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- Prior art keywords
- wheel
- control system
- steering
- fork truck
- steering control
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- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The utility model discloses a four-wheel electric steering control system for a forklift. The four-wheel electric steering control system comprises four loopy absolute encoders. The four loopy absolute encoders are mounted four wheels of the forklift respectively. Each wheel of the forklift is provided with a drive motor. Each drive motor is connected with one steering controller. The signal output end of each loopy absolute encoder is connected to the signal input end of a CPU (central processing unit). The signal output end of the CPU controls the steering controllers and is connected to the steering controllers. The four-wheel electric steering control system allows for the modes, such as straight running, sidewise running, cornering in straight running, cornering in sidewise running, oblique running, rotating on the spot, front-wheel sidewise adjustment and rear-wheel sidewise adjustment, for the forklift under stable conditions, and is satisfactory to complex application environments.
Description
Technical field
The utility model relates generally to fork-truck steering control system field, relates in particular to a kind of fork truck four-wheel electricity steering control system.
Background technology
The steering mode of present fork truck, generally be that single-wheel turns to, perhaps realize that by the mechanical steering bridge two-wheeled turns to, can only when keeping straight on, realize turning to upper type, turn radius is big, in environment for use great limitation is arranged, and the four-wheel electricity turns to control technology, can make vehicle realize various modes such as craspedodrome, skidding, craspedodrome turning, skidding turning, diagonal, original place rotation, front-wheel lateral adjustment, trailing wheel lateral adjustment, satisfy complicated environment for use.
The utility model content
The utility model purpose is exactly in order to remedy the defective of prior art, to provide a kind of and turn to control by the four-wheel electricity, can make fork truck under the pulsation-free state, realizing the multiple fork truck four-wheel electricity steering control system that turns to pattern; This control system receives operator's diversion order by CPU, four-wheel angle position in conjunction with the detection of multi-turn absolute value encoder, send control command by the CAN bus to steering controller in real time, four steering controllers drive corresponding steer motor, turn to the coordination that reaches four-wheel.
The utility model is achieved through the following technical solutions:
A kind of fork truck four-wheel electricity steering control system, it is characterized in that: include four multi-turn absolute value encoders, described four multi-turn absolute value encoders are installed in respectively on four wheels of fork truck, each wheel of fork truck is to there being a drive motor, each drive motor is connected with a steering controller respectively, the signal output part of four multi-turn absolute value encoders inserts the signal input part of CPU, each steering controller of signal output part control linkage of CPU.
Described fork truck four-wheel electricity steering control system is characterized in that: send data by the CAN bus between described each steering controller and the CPU.
Described fork truck four-wheel electricity steering control system is characterized in that: described four steering controllers receive speed that CPU sends, turn to, torque command, but not simple angle commands is coordinated the control Vehicular turn.
Described fork truck four-wheel electricity steering control system, it is characterized in that: the signal input part of described CPU also has access to and turns to mode signal, steering tiller signal.
Principle of the present utility model is:
CPU receives diversion order, take turns as driving wheel a certain, the angle on target that turns to of driving wheel is followed the diversion order angle, the angle on target that turns to of flower wheel is respectively turning under the pattern, all becomes certain proportionate relationship with the driving wheel angle, by comparison four wheel flutters that do not stop and the deviation of angle on target, calculate required the turning to and rotating speed of each motor, send to each steering controller, steering controller is by the tach signal of steer motor feedback, and the control steer motor is rotated on request.By acceleration, the deceleration time that steering controller is set, and the choosing of deviation range, the start and stop of steer motor and operation are coordinated, when motor 0 speed, steering controller is given the certain power of motor, prevents that motor from arbitrarily rotating simultaneously.
The utility model has the advantages that:
The utility model has been realized fork truck under the pulsation-free state, and various modes such as craspedodrome, skidding, craspedodrome turning, skidding turning, diagonal, original place rotation, front-wheel lateral adjustment, trailing wheel lateral adjustment satisfy complicated environment for use.
Description of drawings
Fig. 1 is structural representation block diagram of the present utility model.
The specific embodiment
As shown in Figure 1, a kind of fork truck four-wheel electricity steering control system, include four multi-turn absolute value encoders 1, four multi-turn absolute value encoders 1 are installed in respectively on four wheels of fork truck, each wheel of fork truck is to there being a drive motor 2, each drive motor 2 is connected with a steering controller 3 respectively, and the signal output part of four multi-turn absolute value encoders 1 inserts the signal input part of CPU4, each steering controller 3 of the signal output part control linkage of CPU4.
Send data by the CAN bus between each steering controller 3 and the CPU4.
Four steering controllers 3 receive speed that CPU4 send, turn to, torque command, but not simple angle commands is coordinated the control Vehicular turn.
The signal input part of CPU4 also has access to and turns to mode signal 5, steering tiller signal 6.
The angle bar handle is when the operator promotes, produce analog signals, left-handed turning to the time be on the occasion of, right-hand turning to the time be negative value, CPU is with turn sign, binding pattern selection and vehicle wheelbase and wheelspan, calculate the angle expected value of each wheel under the present mode, the angle that transforms in conjunction with the position data that is installed in the multi-turn absolute value encoder feedback on each wheel again, by the PID adjusting, constantly to export each turning velocity of taking turns and turn to steering controller, steering controller is by the collection turning velocity, constantly adjust motor speed, reach and turn to purpose.
Claims (4)
1. fork truck four-wheel electricity steering control system, it is characterized in that: include four multi-turn absolute value encoders, described four multi-turn absolute value encoders are installed in respectively on four wheels of fork truck, each wheel of fork truck is to there being a drive motor, each drive motor is connected with a steering controller respectively, the signal output part of four multi-turn absolute value encoders inserts the signal input part of CPU, each steering controller of signal output part control linkage of CPU.
2. fork truck four-wheel electricity steering control system according to claim 1 is characterized in that: send data by the CAN bus between described each steering controller and the CPU.
3. fork truck four-wheel according to claim 1 electricity steering control system is characterized in that: described four steering controllers receive speed that CPU sends, turn to, torque command.
4. fork truck four-wheel according to claim 1 electricity steering control system, it is characterized in that: the signal input part of described CPU also has access to and turns to mode signal, steering tiller signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320209669 CN203228845U (en) | 2013-04-23 | 2013-04-23 | Four-wheel electric steering control system for forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320209669 CN203228845U (en) | 2013-04-23 | 2013-04-23 | Four-wheel electric steering control system for forklift |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203228845U true CN203228845U (en) | 2013-10-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320209669 Expired - Lifetime CN203228845U (en) | 2013-04-23 | 2013-04-23 | Four-wheel electric steering control system for forklift |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203228845U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107200060A (en) * | 2017-07-11 | 2017-09-26 | 安徽合力股份有限公司 | The steering control device and its control method of a kind of electri forklift |
| CN111169533A (en) * | 2020-03-02 | 2020-05-19 | 合肥搬易通科技发展有限公司 | Steering control device and method for three-fulcrum multi-directional running forklift |
| CN112689592A (en) * | 2018-09-03 | 2021-04-20 | 三菱罗吉斯耐克特欧洲公司 | Steering of forklift |
| CN113697727A (en) * | 2020-05-21 | 2021-11-26 | 苏州先锋物流装备科技有限公司 | Three-wheel steering control system |
-
2013
- 2013-04-23 CN CN 201320209669 patent/CN203228845U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107200060A (en) * | 2017-07-11 | 2017-09-26 | 安徽合力股份有限公司 | The steering control device and its control method of a kind of electri forklift |
| CN107200060B (en) * | 2017-07-11 | 2023-08-04 | 安徽合力股份有限公司 | Steering control device and control method of electric forklift |
| CN112689592A (en) * | 2018-09-03 | 2021-04-20 | 三菱罗吉斯耐克特欧洲公司 | Steering of forklift |
| CN112689592B (en) * | 2018-09-03 | 2023-11-17 | 三菱罗吉斯耐克特欧洲公司 | Steering of forklift |
| CN111169533A (en) * | 2020-03-02 | 2020-05-19 | 合肥搬易通科技发展有限公司 | Steering control device and method for three-fulcrum multi-directional running forklift |
| CN113697727A (en) * | 2020-05-21 | 2021-11-26 | 苏州先锋物流装备科技有限公司 | Three-wheel steering control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131009 |
|
| CX01 | Expiry of patent term |